I'm trying to make a quadruped that moves with in-game physics. At the moment my plan is to use legs on joints, which work by lifting up, rotating towards the destination, extending and returning to original position. Rear legs would do the same without sideways movement, so the creature would automatically turn to face the direction its moving. Apparently the customizable joints should be best for the wobbly movement I'm looking for, but I have no idea how to make them rotate. I have successfully made a leg spin, but how do I simply rotate the limb from one specific position to another? I'm going about this wrong or unoptimally, suggestions for better methods of making this are welcome too.